Automatic differentiation based dynamic model for a mobile stewart platform
This paper presents a novel approach to dynamical modeling and uses this approach to model the dynamics of a Stewart platform. The Stewart platform is used for a ground-based next generation high-fidelity test bed for modeling and simulating the interactions of two or more interacting on-orbit satellites during various phases of proximity operations. Satellite motions will be emulated by mounting the satellite models on the Stewart platform. Comprehensive dynamic models will be required for modeling and controlling the motion of this system, so that the envisioned motion can actually approximate on-orbit behavior, even during proximity operations involving dynamic contact events. Automatic differentiation, which operates on kinematic descriptions of the Stewart platform, while invoking hidden software tools for numerically generating and assembling the equations of motion, is utilized for analyzing the dynamic response of the system. This approach helps free analysts from having to derive, code, and validate the sensitivity models and enables development of a generic code for multi-body systems. The results can be used to generate various simplified models and help understand how variations of the system parameters affect the dynamic response.
name of conference
7th International Conference On Dynamics and Control of Systems and Structures in Space